Jde+: an open-source schema-based framework for robotic applications

In this paper we present our object-oriented framework jde+, which is the second implementation of our cognitive behavior-based architecture JDE. This framework uses schemas as the building block of robot applications. They are combined in dynamic hierarchies to unfold behaviors. The schema interfaces and the distributed action selection mechanism are key issues in this hierarchical composition. The lessons learnt in three years using the first implementation are also described. For instance, the schema communication has changed from shared memory to message passing, dynamic load of schemas replaces the static linking, and a hierarchy oscilloscope has been introduced for debugging purposes.